diff --git a/.gitattributes b/.gitattributes
index 68b81527907d0103e48f35340f848542b4b602ac..0773987c4e5a3f37fa3c31d2316559444f6debde 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3192,3 +3192,5 @@ dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a4
 dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.urdf b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cad9a82420453d0b8d6f44aa362dd611823b3d29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_035">
+   <link name="glue_stick_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_035.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>8e854c27138959e6b112239a1b0dd6c7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>black glue stick</name>
+         <color>black,green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black hexagonal glue stick with dark green ribbed cap</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143608</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023983 -0.022078 -0.058701</min>
+            <max>0.023972 0.022052 0.061299</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b55612697c5916f3c661ed1619c53fa5e6b9ae6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e287acefcf41f0a7384d0afcce8f7184a661e45f708320231ac5273130f33c96
+size 4681179
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2180ce0fa1284bd6c900958665e10862f2535413
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b87668071435ba6e938172778a4751fb75f02414d9ecf93708b7a649259e7507
+size 12525812
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.mtl b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bd898b6846bdef8809b6e7a3c3623c408b9281d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_035_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1038e514df5c796bb9829e3ee5d4aee825dc2703
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.obj
@@ -0,0 +1,112472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_collision.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dccf1f7f2923006064656c485471689274bfc4a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_collision.obj
@@ -0,0 +1,4375 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6018a8c4a85b307dacf0ea31cb4bef460e41ae28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1c719aa6b949a176046fca614cb0e680b5eaaa2e82f424a3e119743ccb38ab
+size 9552233
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90ca60c5e04ba210188bd80f54618cf6ddd8fb19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_035_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd glue_stick_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6018a8c4a85b307dacf0ea31cb4bef460e41ae28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1c719aa6b949a176046fca614cb0e680b5eaaa2e82f424a3e119743ccb38ab
+size 9552233
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/glue_stick_035.xml b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/glue_stick_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c756eaf34a775d6cbaea8ba50989c555e34b26ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/glue_stick_035.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_035">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_035_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_035">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479f9b64994b198ec3fe47afcda929fd31416079
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035.obj
@@ -0,0 +1,112472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b277cc9400c34588782f1e55647c026d3d11abf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision.obj
@@ -0,0 +1,4375 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3092a46a5a97335e1fa435a6367a2dc7f49d07da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e9ca9f39f665a33f3fa1a1a8453d0c44a7f38d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mjcf/mesh/glue_stick_035_collision_1.obj
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